Related papers: Large Scale Photometric Bundle Adjustment
Most methods for Bundle Adjustment (BA) in computer vision are either centralized or operate incrementally. This leads to poor scaling and affects the quality of solution as the number of images grows in large scale structure from motion…
Multi-spectral sensors consisting of a standard (visible-light) camera and a long-wave infrared camera can simultaneously provide both visible and thermal images. Since thermal images are independent from environmental illumination, they…
Reconstructing 3D shapes from a sequence of images has long been a problem of interest in computer vision. Classical Structure from Motion (SfM) methods have attempted to solve this problem through projected point displacement \& bundle…
We present an inverse image-formation module that can enhance the robustness of existing visual SLAM pipelines for casually captured scenarios. Casual video captures often suffer from motion blur and varying appearances, which degrade the…
Given enough multi-view image corresponding points (also called tie points) and ground control points (GCP), bundle adjustment for high-resolution satellite images is used to refine the orientations or most often used geometric parameters…
Lensless imaging has emerged as a potential solution towards realizing ultra-miniature cameras by eschewing the bulky lens in a traditional camera. Without a focusing lens, the lensless cameras rely on computational algorithms to recover…
This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…
Digital Breast Tomosynthesis (DBT) provides an insight into the fine details of normal fibroglandular tissues and abnormal lesions by reconstructing a pseudo-3D image of the breast. In this respect, DBT overcomes a major limitation of…
In this paper we propose a framework for integrating map-based relocalization into online direct visual odometry. To achieve map-based relocalization for direct methods, we integrate image features into Direct Sparse Odometry (DSO) and rely…
Event cameras are bio-inspired sensors that offer advantages over traditional cameras. They operate asynchronously, sampling the scene at microsecond resolution and producing a stream of brightness changes. This unconventional output has…
Real-time multi-camera 3D reconstruction is crucial for 3D perception, immersive interaction, and robotics. Existing methods struggle with multi-view fusion, camera extrinsic uncertainty, and scalability for large camera setups. We propose…
Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. However, this task is particularly challenging in dynamic…
This study proposes a privacy-preserving Visual SLAM framework for estimating camera poses and performing bundle adjustment with mixed line and point clouds in real time. Previous studies have proposed localization methods to estimate a…
The advent of 3D Gaussian Splatting (3DGS) has advanced 3D scene reconstruction and novel view synthesis. With the growing interest of interactive applications that need immediate feedback, online 3DGS reconstruction in real-time is in high…
Current bundle adjustment solvers such as the Levenberg-Marquardt (LM) algorithm are limited by the bottleneck in solving the Reduced Camera System (RCS) whose dimension is proportional to the camera number. When the problem is scaled up,…
Existing monocular depth estimation methods have achieved excellent robustness in diverse scenes, but they can only retrieve affine-invariant depth, up to an unknown scale and shift. However, in some video-based scenarios such as video…
Multi-camera SLAM systems offer a plethora of advantages, primarily stemming from their capacity to amalgamate information from a broader field of view, thereby resulting in heightened robustness and improved localization accuracy. In this…
3D reconstruction from single view images is an ill-posed problem. Inferring the hidden regions from self-occluded images is both challenging and ambiguous. We propose a two-pronged approach to address these issues. To better incorporate…
Large Reconstruction Models have made significant strides in the realm of automated 3D content generation from single or multiple input images. Despite their success, these models often produce 3D meshes with geometric inaccuracies,…
Conventional image reconstruction models for lensless cameras often assume that each measurement results from convolving a given scene with a single experimentally measured point-spread function. These image reconstruction models fall short…